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decode from cpp

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cyy_mac
2026-07-28 15:53:06 +08:00
parent e017bce6e2
commit 6c4dd6ed14
2 changed files with 8 additions and 6 deletions
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7
deploy_45dim_rl_gym/bpu_deploy_x5/deploy_go1_robotlab_bpu_x5_fastcpp.py
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@@ -58,9 +58,10 @@ if SDK_FAST_LOW_CMD.exists():
sys.path.insert(0, str(SDK_FAST_LOW_CMD))
try:
from fast_lowcmd import FastLowCmdBuilder
from fast_mcu import FastMCUClient
except ImportError as exc:
raise RuntimeError(
"C++ fast LowCmd backend is required for this entrypoint. "
"C++ fast LowCmd/LowState backend is required for this entrypoint. "
"Build it first: cd /root/go1_pro_sdk/fast_lowcmd_cpp && "
"PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace"
) from exc
@@ -69,7 +70,7 @@ DEFAULT_BPU_MODEL = (
HERE.parent / "bpu_quantization" / "mapper_output_6500_gemm" /
"policy_robotlab_6500_int16_gemm.bin"
)
LOWCMD_BACKEND = "cpp_checked_servo12"
LOWCMD_BACKEND = "cpp_lowcmd_cpp_lowstate"
SPORT_KILL_CMD = (
'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; '
'sudo pkill -9 -f Legged_sport; sudo pkill -9 -f appTransit"'
@@ -602,7 +603,7 @@ def connect_client(args):
print(f"[INFO] LowCmd backend: {LOWCMD_BACKEND}")
print("[INFO] Connecting to MCU...")
client = MCUClient()
client = FastMCUClient()
print("[INFO] Waking MCU...")
client.wake_mcu(n_frames=50, dt=0.01)
state = client.recv_state(timeout=2.0)

7
deploy_45dim_rl_gym/deploy_go1_rlgym_pro_sdk_lab_fastcpp.py
View File

@@ -55,15 +55,16 @@ if SDK_FAST_LOW_CMD.exists():
sys.path.insert(0, str(SDK_FAST_LOW_CMD))
try:
from fast_lowcmd import FastLowCmdBuilder
from fast_mcu import FastMCUClient
except ImportError as exc:
raise RuntimeError(
"C++ fast LowCmd backend is required for this entrypoint. "
"C++ fast LowCmd/LowState backend is required for this entrypoint. "
"Build it first: cd /root/go1_pro_sdk/fast_lowcmd_cpp && "
"PYTHONPATH=/root/go1_pro_sdk python3 setup.py build_ext --inplace"
) from exc
DEFAULT_ONNX = HERE / "policy_robotlab_6500.onnx"
LOWCMD_BACKEND = "cpp_checked_servo12"
LOWCMD_BACKEND = "cpp_lowcmd_cpp_lowstate"
SPORT_KILL_CMD = (
'ssh pi@192.168.123.161 "sudo pkill -9 -f keep_sport_alive; '
'sudo pkill -9 -f Legged_sport; sudo pkill -9 -f appTransit"'
@@ -631,7 +632,7 @@ def connect_client(args):
print(f"[INFO] LowCmd backend: {LOWCMD_BACKEND}")
print("[INFO] Connecting to MCU...")
client = MCUClient()
client = FastMCUClient()
print("[INFO] Waking MCU...")
client.wake_mcu(n_frames=50, dt=0.01)
state = client.recv_state(timeout=2.0)